Friction and rigid body identification of robot dynamics
Friction and rigid body identification of robot dynamics
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DOI：
10.1016/s0020-7683(00)00141-4
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发表时间：
2001-03-01
影响因子：
3.6
通讯作者：
Heimann, B
中科院分区：
文献类型：
--
作者：
Grotjahn, M;Daemi, M;Heimann, B
在本文中，工业机器人的识别方法，不需要先验识别的摩擦模型。首先，这种方法的必要性是由传统的摩擦建模和刚体识别的概述。结果表明，典型摩擦特性的时变性会导致系统辨识误差。所提出的方法是基于将基本参数分成三个不同的组来避免它们。每一组都是通过简单的测量和加权最小二乘法确定的。测量进行简单的运动在附近的一些特别选定的联合配置。该方法的其他优点是易于实现标准机器人控制和发现建模错误的可能性。对一个典型的具有六个转动关节的工业机器人进行了实验，取得了显著的效果。(C)2001爱思唯尔科技有限公司版权所有。
In this paper, an identification method for industrial robots is described that does not require the a priori identification of the friction model. First, the necessity for such a method is motivated by an overview on conventional friction modelling and rigid body identification. It is shown that the time variance of typical friction characteristics lead to systematic identification errors. They are avoided by the presented method, which is based on separating the base parameters into three different groups. Each group is identified by simple measurements and a weighted least-squares method. Measurements are carried out with simple motions in the neighbourhood of a number of especially selected joint configurations. Further advantages of this method are its easy implementation for standard robot controls and the possibility to find modelling errors. The experimental implementation of this method to a typical industrial robot with six rotational joints is carried out and yields remarkable results. (C) 2001 Elsevier Science Ltd. All rights reserved.